CN204568029U - One is unmanned cable man-controlled mobile robot under water - Google Patents
One is unmanned cable man-controlled mobile robot under water Download PDFInfo
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- CN204568029U CN204568029U CN201420836525.4U CN201420836525U CN204568029U CN 204568029 U CN204568029 U CN 204568029U CN 201420836525 U CN201420836525 U CN 201420836525U CN 204568029 U CN204568029 U CN 204568029U
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Abstract
The utility model relates to one unmanned cable man-controlled mobile robot under water, comprise control convenience waterborne, umbilical cables and robot body, robot body comprises carrier frame, buoyant module, the system equipment that swims, system equipment of creeping, see logical equipment, underwater control equipment, pressure-resistant seal cabin, sensor and Working mechanism.Unmanned cable man-controlled mobile robot under water of the present utility model possess in water hover, adsorb, creep, rise latent, advancing, retreating and swimming the multi-motion modes such as to turn to, target observations in water can be realized, search and rescue the several work task such as object cleaning, marine minerals exploration in salvaging, water under water, practicality is high, and alerting ability is good.
Description
Technical field
The utility model belongs to under-water operation apparatus field, relates in particular to one unmanned cable man-controlled mobile robot under water.
Background technology
Along with the progressively development of China's ocean exploitation cause, marine settings industry have also been obtained flourish.Under-water robot is the important tool in the process of exploitation ocean, be widely used in the job tasks such as marine monitoring, ocean engineering, marine minerals exploration, scientific research, search salvaging, particularly unmanned cable control under-water robot, its endurance is strong, and power is abundant, safe and reliable.Unmanned cable control under-water robot can be divided into trailing type and self-propulsion type two kinds, and trailing type under-water robot itself is unpowered, is hung into marine and rely on lash ship towing voyage; Self-propulsion type under-water robot self possesses power system, can perform complicated under-water operation task, and it is by the power needed for umbilical cables transferring robot body, also upload simultaneously and under pass control data, signal; Engineering staff can handle unmanned cable control under-water robot by the parametric controller being connected to umbilical cables one end on lash ship, and it is generally divided into from model plane formula three classes of swimming, adsorb and creep.
CN102424100A discloses a kind of robot for cleaning composite adsorption ship body, namely a kind of magnetic-adsorption and thrust is adsorbed the hull robot for cleaning combined, and can realize hull under-water, above-water cleaning.But this robot cannot perform operation of swimming, must enter operating area along shipboard during work, action radius is limited.CN101139007A discloses a kind of underwater cleaning robot, is a kind of underwater cleaning robot utilizing high speed draining screw propeller generation negative pressure to carry out wall adsorption, can by remote control or the cleaning operation carrying out swimming pool wall under water from master control.But this robot drive motor is numerous, mechanism is complicated, relies on the very flexible of swimming of draining screw propeller, can not carry out swimming operation, function singleness, cleaning only for wall of swimming pool.
By drawing the com-parison and analysis of existing all kinds of under-water robot, it is single that current under-water robot has attitude usually, function singleness, and practicality is low, the defect of very flexible.
Utility model content
The purpose of this utility model is that the attitude overcoming existing under-water robot is single, function singleness, practicality is low, the defect of very flexible, one unmanned cable man-controlled mobile robot is under water provided, hovers in this robot water, adsorbs, creeps, rise latent, advancing, retreating and swimming the multi-motion modes such as to turn to, target observations in water can be realized, search and rescue the several work task such as object cleaning, marine minerals exploration in salvaging, water under water, practicality is high, and alerting ability is good.
For this reason, the utility model provides one unmanned cable man-controlled mobile robot under water, comprise control convenience waterborne, umbilical cables and robot body, described robot body comprises carrier frame, buoyant module, the system equipment that swims, system equipment of creeping, see logical equipment, underwater control equipment, pressure-resistant seal cabin, sensor and Working mechanism; Buoyant module is arranged on the top of carrier frame, system equipment of creeping is arranged on the both sides of carrier frame, see logical equipment and be arranged on the front portion of carrier frame, the bottom of buoyant module, pressure-resistant seal cabin is arranged on immediately below the middle part of carrier frame, buoyant module, Working mechanism is arranged on the below seeing logical equipment, sensor and underwater control equipment are arranged in pressure-resistant seal cabin, and umbilical cables connects control convenience waterborne and underwater control equipment; The described system equipment that swims comprises four vertical spin oar propelling units and two horizontal propeller propelling units, four vertical spin oar propelling units are vertically mounted on carrier frame side plate interior sides middle and upper part, and two horizontal propeller propelling unit symmetries are arranged on the outside of carrier frame side plate.
According to the utility model, described unmanned cable man-controlled mobile robot under water possess in water hover, adsorb, creep, rise latent, advancing, retreating and swimming the multi-motion modes such as to turn to.Four vertical spin oar propelling units can rise for unmanned cable man-controlled mobile robot under water provides power of diving, adsorb and creep, and two horizontal propeller propelling units can provide advance for unmanned cable man-controlled mobile robot under water, retreat, swim steering power.
According to the utility model, described carrier frame can as the movement of unmanned cable man-controlled mobile robot under water and carrying platform.
According to the utility model, the buoyant material manufacture that described buoyant module is 0.2-0.7g/cm by density forms, and can ensure that the pressure of water can not destroy buoyant material, can meet again the buoyancy requirement that unmanned cable man-controlled mobile robot is required under water under water.
According to the utility model, system equipment of creeping comprises brush DC drive motor and crawler belt climbing mechanism, crawler belt climbing mechanism comprises crawler belt, Athey wheel and crawler belt erecting frame, Athey wheel is arranged on crawler belt erecting frame, crawler belt is wrapped on Athey wheel, brush DC drive motor is arranged on inside crawler belt erecting frame, crawler belt can be driven to carry out creeping at the bottom of seat and attaching is creeped.
According to the utility model, described sight is led to equipment and is comprised varifocal monopod video camera and two underwater LED lamps, and seeing logical equipment can observe the operating environment of unmanned cable man-controlled mobile robot under water, and can carry out visualized operation.Varifocal monopod video camera can realize the multiple degree of freedom adjustment in the visual field by cradle head control, increase visual range.Two underwater LED lamps symmetry is arranged on the both sides of varifocal monopod video camera, underwater LED lamp and horizontal direction be 15 ° towards under, good visual effect can be obtained in the horizontal direction of unmanned cable man-controlled mobile robot and direction, the nearly end under water like this.
According to the utility model, described pressure-resistant seal cabin comprises Cylindrical cabin body and two hemispherical heads, can be used for sensor installation and underwater control equipment.
According to the utility model, described sensor comprises water leakage alarm device in temperature sensor in depth transducer, height sensor, gesture stability sensor, cabin, cabin humidity sensor and cabin, and described gesture stability sensor comprises triaxial accelerometer, electronic compass and three-axis gyroscope.Sensor is mainly monitoring, warning class sensor, can carry out Real-Time Monitoring to unmanned cable man-controlled mobile robot under water.
According to the utility model, described Working mechanism comprises multifunction manipulator or underwater cleaning device, for different task situation, can change different power tools.Under Working mechanism hydrous water, other equipment of unmanned cable man-controlled mobile robot can realize target observations in water, search and rescue the several work task such as object cleaning, marine minerals exploration in salvaging, water under water.
According to the utility model, described control convenience waterborne comprises controller, power supply unit and umbilical cables winch, and controller connects power supply unit, and power supply unit connects umbilical cables winch.
According to the utility model, described underwater control equipment is arranged in pressure-resistant seal cabin, can receive, send and simple process data and signal.
According to the utility model, described umbilical cables is optical cable, is wrapped on umbilical cables winch, increases head-rope in umbilical cables, can ensure the stable connection of umbilical cables and robot body.Control convenience waterborne by umbilical cables to underwater control equipment transmission data and signal, receive underwater control equipment, the data seeing logical equipment and each sensor under water and signal, and it is shown on control convenience waterborne in real time, ensure that operating personal waterborne can monitor the mode of operation of unmanned cable man-controlled mobile robot under water in real time.
Unmanned cable man-controlled mobile robot under water of the present utility model possess in water hover, adsorb, creep, rise latent, advancing, retreating and swimming the multi-motion modes such as to turn to, target observations in water can be realized, search and rescue the several work task such as object cleaning, marine minerals exploration in salvaging, water under water.Unmanned cable man-controlled mobile robot under water of the present utility model has modularization, the structure design of commonality and failure-free master mode, therefore move flexible, practical, task variety can be met.Of the present utility model unmanned cable man-controlled mobile robot unit design is reasonable under water, volume is little, lightweight, mobility strong, handling are good, and simultaneously structure and the appropriate design that controls also make under water that unmanned cable man-controlled mobile robot cost is low, practical, comformability is good.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of unmanned cable man-controlled mobile robot under water of the present utility model.
Fig. 2 is the structural representation of the control convenience waterborne of unmanned cable man-controlled mobile robot under water of the present utility model.
Fig. 3 is the structural representation of robot body of the present utility model.
Fig. 4 is the structural representation in the pressure-resistant seal cabin of robot body of the present utility model.
Control convenience 1 waterborne; Umbilical cables 2; Robot body 3; Controller 4; Power supply unit 5; Umbilical cables winch 6; Buoyant module 7; Vertical spin oar propelling unit 8; Horizontal propeller propelling unit 9; Carrier frame side plate 10; Crawler belt erecting frame 11; Crawler belt 12; Athey wheel 13; Brush DC drive motor 14; Underwater LED lamp 15; Varifocal monopod video camera 16; Pressure-resistant seal cabin 17; Working mechanism 18; Sensor 19; Hemispherical head 20; Underwater control equipment 21; Cylindrical cabin body 22.
Detailed description of the invention
Below detailed description of the invention of the present utility model is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the utility model, is not limited to the utility model.
Embodiment 1
As shown in Figure 1, unmanned cable man-controlled mobile robot under water of the present utility model comprises control convenience 1 waterborne, umbilical cables 2 and robot body 3.As seen from Figure 1, unmanned cable man-controlled mobile robot under water of the present utility model possess hovering, swim, adsorb, the multi-motion modes such as to creep.
As shown in Figure 2, the control convenience waterborne of unmanned cable man-controlled mobile robot under water of the present utility model comprises controller 4, power supply unit 5 and umbilical cables winch 6, and controller 4 connects power supply unit 5, and power supply unit 5 connects umbilical cables winch 6.
As shown in Figure 3, robot body of the present utility model comprises buoyant module 7, vertical spin oar propelling unit 8, horizontal propeller propelling unit 9, carrier frame side plate 10, crawler belt erecting frame 11, crawler belt 12, Athey wheel 13, brush DC drive motor 14, underwater LED lamp 15, varifocal monopod video camera 16, pressure-resistant seal cabin 17 and Working mechanism 18.
As shown in Figure 4, the pressure-resistant seal cabin 17 of robot body of the present utility model comprises hemispherical head 20 and Cylindrical cabin body 22, and sensor 19 and underwater control equipment 21 are arranged in pressure-resistant seal cabin 17.
Carrier frame can as the movement of robot body 3 and carrying platform, buoyant module 7 is arranged on the top of carrier frame, pressure-resistant seal cabin 17 is arranged on immediately below the middle part of carrier frame, buoyant module 7, Working mechanism 18 is arranged on the below seeing logical equipment, the i.e. below of underwater LED lamp 15 and varifocal monopod video camera 16, sensor 19 and underwater control equipment 21 are arranged in pressure-resistant seal cabin 17, and umbilical cables 2 connects the underwater control equipment 21 of control convenience 1 waterborne and robot body.Four vertical spin oar propelling units 8 are vertically mounted on middle and upper part inside carrier frame side plate 10, and two horizontal propeller propelling unit 9 symmetries are arranged on the outside of carrier frame side plate 10.Two underwater LED lamp 15 symmetries are arranged on the both sides of varifocal monopod video camera 16, underwater LED lamp 15 and horizontal direction be 15 ° towards under.
Under water unmanned cable man-controlled mobile robot possess in water hover, adsorb, creep, rise latent, advancing, retreating and swimming the multi-motion modes such as to turn to.Underwater LED lamp 15 and varifocal monopod video camera 16 can be observed the operating environment of unmanned cable man-controlled mobile robot under water, and can carry out visualized operation.Control convenience 1 waterborne transmits data and signal by umbilical cables 2 to underwater control equipment 21, receive data and the signal of underwater control equipment 21 and each sensor 19, and it is shown in real time on control convenience 1 waterborne, ensure that operating personal waterborne can monitor the mode of operation of unmanned cable man-controlled mobile robot under water in real time.Underwater control equipment 21 is arranged in pressure-resistant seal cabin 17, can receive, send and simple process data and signal.Working mechanism 18 comprises multifunction manipulator or underwater cleaning device, for different task situation, can change different power tools.Under Working mechanism 18 hydrous water, other equipment of unmanned cable man-controlled mobile robot can realize target observations in water, search and rescue the several work task such as object cleaning, marine minerals exploration in salvaging, water under water.
Claims (9)
1. a unmanned cable man-controlled mobile robot under water, comprise control convenience waterborne, umbilical cables and robot body, it is characterized in that, described robot body comprises carrier frame, buoyant module, the system equipment that swims, system equipment of creeping, see logical equipment, underwater control equipment, pressure-resistant seal cabin, sensor and Working mechanism; Buoyant module is arranged on the top of carrier frame, system equipment of creeping is arranged on the both sides of carrier frame, see logical equipment and be arranged on the front portion of carrier frame, the bottom of buoyant module, pressure-resistant seal cabin is arranged on immediately below the middle part of carrier frame, buoyant module, Working mechanism is arranged on the below seeing logical equipment, sensor and underwater control equipment are arranged in pressure-resistant seal cabin, and umbilical cables connects control convenience waterborne and underwater control equipment; The described system equipment that swims comprises four vertical spin oar propelling units and two horizontal propeller propelling units, four vertical spin oar propelling units are vertically mounted on carrier frame side plate interior sides middle and upper part, and two horizontal propeller propelling unit symmetries are arranged on the outside of carrier frame side plate.
2. unmanned cable man-controlled mobile robot under water as claimed in claim 1, it is characterized in that, the buoyant material manufacture that described buoyant module is 0.2-0.7g/cm by density forms.
3. unmanned cable man-controlled mobile robot under water as claimed in claim 1, it is characterized in that, described system equipment of creeping comprises brush DC drive motor and crawler belt climbing mechanism, crawler belt climbing mechanism comprises crawler belt, Athey wheel and crawler belt erecting frame, Athey wheel is arranged on crawler belt erecting frame, crawler belt is wrapped on Athey wheel, and brush DC drive motor is arranged on inside crawler belt erecting frame.
4. unmanned cable man-controlled mobile robot under water as claimed in claim 1, it is characterized in that, described sight is led to equipment and is comprised varifocal monopod video camera and two underwater LED lamps, and two underwater LED lamps symmetry is arranged on the both sides of varifocal monopod video camera, underwater LED lamp and horizontal direction be 15 ° towards under.
5. unmanned cable man-controlled mobile robot under water as claimed in claim 1, it is characterized in that, described pressure-resistant seal cabin comprises Cylindrical cabin body and two hemispherical heads.
6. unmanned cable man-controlled mobile robot under water as claimed in claim 1, it is characterized in that, described sensor comprises water leakage alarm device in temperature sensor in depth transducer, height sensor, gesture stability sensor, cabin, cabin humidity sensor and cabin, and described gesture stability sensor comprises triaxial accelerometer, electronic compass and three-axis gyroscope.
7. unmanned cable man-controlled mobile robot under water as claimed in claim 1, it is characterized in that, described Working mechanism comprises multifunction manipulator or underwater cleaning device.
8. unmanned cable man-controlled mobile robot under water as claimed in claim 1, it is characterized in that, described control convenience waterborne comprises controller, power supply unit and umbilical cables winch, and controller connects power supply unit, and power supply unit connects umbilical cables winch.
9. unmanned cable man-controlled mobile robot under water as claimed in claim 8, it is characterized in that, described umbilical cables is optical cable, is wrapped on umbilical cables winch, increases head-rope in umbilical cables.
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| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN106938692B (en) * | 2017-03-04 | 2018-11-20 | 浙江大学 | Non-contact negative-pressure adsorption climbs wall detection device under water |
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